[Joe Johnson]

Seems only natural for you to put in Jim Zondag's (Killer Bees, Team #33) auto shifting alorithm. Once you take the human out of the throttle control business, it seems a natural to have the velocity control figure out what gear is best.

It is a pretty simple calculation to figure out if you would be more power efficient to be in another gear.
Knowing speed and voltage, you can calculate torque on the motor and the efficiency of the motor at that speed, voltage and torque at converting VI power into Tw power
Knowing this, you can calculate the voltage and associated effieciency that would be needed in the other possible gears at that same tire speed and tire torque load point
If it is more efficient to be in another gear and you have not shifted too recently, then shift to the more efficient gear

Anyway, thanks for what you have done so far. I applaud your efforts.

Joe J.